Surveillance system and method for optimizing coverage of a region of interest by a sensor

ABSTRACT

A method for programming scanning parameters of a programmable sensor comprising a sensing element, the sensor positioned in a precinct to scan a region of interest of the precinct, the method comprising simulating scanning at least some of the region of interest according to a plurality of strips; and optimizing the scanning parameters by comparing between the areas covered by each strip according to at least one property of the area.

FIELD OF THE INVENTION

The present invention relates generally to the field of planning thescanning parameters of a sensor in a precinct using computer-aideddesign. More specifically, the present invention provides a system andmethod that plans the scanning parameters, such as sensor pitch, rolland yaw, of a sensor.

BACKGROUND OF THE INVENTION

Sensors that enable scanning a region of interest and that provide anobserver with information regarding the presence, the movement or bothof, for example, vehicles, persons and the like, are well-known in theart. Such sensors may be, for example, security cameras, radars and thelike. Sensor scanning parameters such as, e.g., pitch, roll and yaw, maybe programmable.

Such a sensor may be implemented as presented by Choi, “Movable securitycamera apparatus”, U.S. Pat. No. 5,327,233; or as presented by Taillade,“Video surveillance system with mobile camera”, patent number EP1494480,which are both incorporated by reference for all purposes as if fullyset forth herein. Furthermore, such a programmable sensor may beimplemented as presented by Koshiio, “System and device for securitymobile monitoring”, patent number JP2000268285; or as presented byHsieh, “Programmable high-speed tracing and locating camera apparatus”,US patent application No. US200500466, which are both incorporated byreference for all purposes as if fully set forth herein. In order tooptimize the operation of such a sensor (i.e. minimizing scanning timeand/or maximizing coverage of the region of interest), a user has toprogram the sensor's scanning parameters accordingly. However,implementations of the above-referenced publications lack a system, anapparatus, a method or a combination thereof, that enables the user toprogram the scanning parameters ill a manner that optimizes theoperation of the sensor.

SUMMARY OF SOME EMBODIMENTS OF THE INVENTION

In embodiments of the invention, a method for programming scanningparameters of a programmable sensor comprising a sensing element ispresented. The sensor is positioned in a precinct to scan a region ofinterest of the precinct. The method comprises, inter alia, simulatingscanning at least some of the region of interest according to aplurality of strips; and optimizing the scanning parameters by comparingbetween the areas covered by each strip according to at least oneproperty of the area.

In embodiments of the invention, properties of the area refer to one ofthe following: distance covered by each strip, size of the area coveredby each strip, weight of a section covered by at least one of thestrips. The weights indicate importance of the section.

In embodiments of the invention, the method further comprises sortingthe strips according to at least one of the properties of the area.

In embodiments of the invention, the method further comprises selectinga group of strips. The group comprises a predetermined number of stripsthat cover the largest area within the region of interest.

In embodiments of the invention, the method further comprisesdetermining the area covered by the strips by counting the number ofpixels covered by each respective strip.

In embodiments of the invention, the strip comprises a substantiallysingle pitch angle and of a plurality of azimuth angles.

In embodiments of the invention, the strip comprises a substantiallysingle azimuth angle and a plurality of pitch angles.

In embodiments of the invention, the strip comprises a plurality ofpitch angles and azimuth angles.

In embodiments of the invention, the method further comprisesdetermining a maximal scanning range of the sensor.

In embodiments of the invention, the method further comprises simulatingpositioning the sensor within the precinct to generate a visibility mapthat enables maximizing, within the region of interest, a zone being indirect line-of-sight with the sensing element.

In embodiments of the invention, the method further comprisesdetermining a sequence of traversing the group of strips. The sequenceis determined in a manner such that the scanning time of at least someof the region of interest is minimized.

In embodiments of the invention, the method further comprises minimizingthe scanning time by determining the sequence such that the angulardifference between two strips is minimal compared to the angulardifference between other strips.

In embodiments of the invention, a system for programming scanningparameters of a programmable sensor is presented. The system comprises agraphic processing module enabling simulation of scanning at least someof the region of interest according to a plurality of strips andanalyzing The module optimizes the scanning parameters by comparingbetween the areas covered by each strip according to at least oneproperty of the area.

In embodiments of the invention, the analyzing module sorts the stripsaccording to at least one property of the area.

In embodiments of the invention, the analyzing module selects a group ofstrips, which comprises a predetermined number of strips that covers thelargest area of the region of interest.

In embodiments of the invention, the analyzing module determines thearea covered by each strip by counting the number of pixels covered byeach respective strip.

In embodiments of the invention, the analyzing module determines amaximal scanning range of the sensor.

In embodiments of the invention, the graphic processing module enablessimulating the position of the sensor within the precinct to generate avisibility map. The visibility map enables maximizing of a zone being indirect line-of-sight with the sensing element, within the region ofinterest.

In embodiments of the invention, the graphic processing module indicatesin the visibility map the zoom ranges of the sensor.

In embodiments of the invention, the analyzing module determines asequence of the strips of the group such that a scanning time of atleast some of the region of interest is minimized.

In embodiments of the invention, the analyzing module determines asequence of traversing the group of strips, i.e., the scanning sequence,such that the angular difference between two strips is minimal comparedto the angular difference between other strips.

In embodiments of the invention, the system further comprises aworkstation and a sensor wherein the scanning parameters are transmittedfrom the workstation to the sensor.

In embodiments of the invention, the scanning parameters are updatedsubstantially in real-time during the operation of the sensor.

In embodiments of the invention, the region of interest is alteredduring the operation of the sensor.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter regarded as the invention will become more clearlyunderstood in light of the ensuing description of embodiments herein,given by way of example and for purposes of illustrative discussion ofthe present invention only, with reference to the accompanying drawings,wherein

FIG. 1 is a schematic illustration of a surveillance system, accordingto an embodiment of the invention;

FIG. 2 is a schematic illustration of a map of a precinct wherein aposition and a maximal scanning range of a sensor are indicated; andwherein a zone in direct line-of-sight is indicated, according to anembodiment of the invention;

FIG. 3 is a schematic illustration of a map of the precinct wherein anadditional position of the sensor and a region of interest areindicated, according to an embodiment of the invention;

FIG. 4 is a schematic illustration of a map of the precinct, wherein thesection outside of the region of interest is cropped, according to anembodiment of the invention;

FIG. 5 is a schematic illustration of the region of interest wherein thezoom ranges of the sensor are indicated;

FIG. 6 is a schematic illustration of the region of interest wherein thezoom ranges and their corresponding magnification factors are indicated,according to an embodiment of the invention;

FIG. 7 is a schematic illustration of the region of interest, virtuallysegmented with a grid;

FIG. 8 a is a schematic, isometric illustration of the topography,depicted by a grid, of the region of interest, according to anembodiment of the invention;

FIG. 8 b is another schematic, isometric illustration of the topography,depicted by the grid, of the region of interest, according to anembodiment of the invention;

FIG. 9 is a schematic illustration of a method for graphically depictingzoom ranges within a region of interest, according to an embodiment ofthe invention; and

FIG. 10 is a schematic illustration of a method for optimizing thescanning parameters of the sensor.

The drawings together with the description make apparent to thoseskilled in the art how the invention may be embodied in practice.

No attempt is made to show structural details of the invention in moredetail than is necessary for a fundamental understanding of theinvention.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the Figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements.

DESCRIPTION OF SOME EMBODIMENTS OF THE INVENTION

The present invention relates to a novel system and method thatoptimizes positioning and controlling of a sensor to detect, track,monitor, warn or any combination of the above, a user of the systemabout a movement or presence or both of persons, vehicles and the likewithin a precinct. Such a precinct may be, for example, a landscaperegion, a building, a hall, a prison, a section of a street, an airport,a train station, an underground train station, a border crossing, amilitary base, a shopping mall, an airport and the like. The sensor maybe, for example, a security camera, a radar and the like.

Scanning parameters of the sensor, such as pitch, roll and yaw, areoptionally programmable as known in the art. The sensor is operativelyassociated with adjustable gears, which are operatively associated witha drive. The drive enables adjustment of the gears, and thereforeadjustment of the sensor, according to the programmed scanningparameters. For example, the user may program the sensor to traverse andthereby scanning a region of interest within the precinct according tothe following scanning parameters: pitch: 0.125*π radians, start azimuthangle: 0 radians, end azimuth angle: π radians. By starting theoperation of the sensor, the sensor starts a scanning process in whichat least some part of the region of interest is scanned according to theprogrammed scanning parameters.

It is the purpose of the present invention to provide a system and/ormethod that enable programming the sensor in a manner such that thescanning time of the region of interest is minimized and/or the coverageof the region of interest is maximized.

It is to be understood that an embodiment is an example orimplementation of the inventions. The various appearances of “oneembodiment,” “an embodiment” or “some embodiments” do not necessarilyall refer to the same embodiments.

Although various features of the invention may be described in thecontext of a single embodiment, the features may also be providedseparately or in any suitable combination. Conversely, although theinvention may be described herein in the context of separate embodimentsfor clarity, the invention may also be implemented in a singleembodiment.

Reference in the specification to “one embodiment”, “an embodiment”,“some embodiments” or “other embodiments” means that a particularfeature, structure, or characteristic described in connection with theembodiments is included in at least one embodiments, but not necessarilyall embodiments, of the inventions.

It is to be understood that the phraseology and terminology employedherein is not to be construed as limiting and are for descriptivepurpose only.

The principles and uses of the teachings of the present invention may bebetter understood with reference to the accompanying description,figures and examples.

It is to be understood that the details set forth herein do not construea limitation to an application of the invention.

Furthermore, it is to be understood that the invention can be carriedout or practiced in various ways and that the invention can beimplemented in embodiments other than the ones outlined in thedescription below.

It is to be understood that the terms “including”, “comprising”,“consisting” and grammatical variants thereof do not preclude theaddition of one or more components, features, steps, or integers orgroups thereof and that the terms are to be construed as specifyingcomponents, features, steps or integers.

The phrase “consisting essentially of”, and grammatical variantsthereof, when used herein is not to be construed as excluding additionalcomponents, steps, features, integers or groups thereof but rather thatthe additional features, integers, steps, components or groups thereofdo not materially alter the basic and novel characteristics of theclaimed composition, device or method.

If the specification or claims refer to “an additional” element, thatdoes not preclude there being more than one off the additional element.

It is to be understood that where the claims or specification refer to“a” or “an” element, such reference is not be construed that there isonly one of that element.

It is to be understood that where the specification states that acomponent, feature, structure, or characteristic “may”, “might”, “can”or “could” be included, that particular component, feature, structure,or characteristic is not required to be included.

Where applicable, although state diagrams, flow diagrams or both may beused to describe embodiments, the invention is not limited to thosediagrams or to the corresponding descriptions. For example, flow neednot move through each illustrated box or state, or in exactly the sameorder as illustrated and described.

Methods of the present invention may be implemented by performing orcompleting manually, automatically, or a combination thereof, selectedsteps or tasks.

The term “method” refers to manners, means, techniques and proceduresfor accomplishing a given task including, but not limited to, thosemanners, means, techniques and procedures either known to, or readilydeveloped from known manners, means, techniques and procedures bypractitioners of the art to which the invention belongs.

The descriptions, examples, methods and materials presented in theclaims and the specification are not to be construed as limiting butrather as illustrative only.

Meanings of technical and scientific terms used herein are to becommonly understood as by one of ordinary skill in the art to which theinvention belongs, unless otherwise defined.

The present invention can be implemented in the testing or practice withmethods and materials equivalent or similar to those described herein.

Although embodiments of the invention are not limited in this regard,discussions utilizing terms such as, for example, “processing,”“computing,” “calculating,” “determining,” “establishing”, “analyzing”,“checking”, or the like, may refer to operation(s) and/or process(es) ofa computer, a computing platform, a computing system, or otherelectronic computing device, that manipulate and/or transform datarepresented as physical (e.g., electronic) quantities within thecomputer's registers and/or memories into other data similarlyrepresented as physical quantities within the computer's registersand/or memories or other information storage medium that may storeinstructions to perform operations and/or processes.

For exemplary purposes only, a scanning process in which the pitchremains substantially constant while the azimuth is changed, ishereinafter referred to as a strip, though it is to be understood thatthe invention is not to be viewed as limiting in this regard. Forexample, in some embodiments of the invention, a strip may be defined asa scanning process in which the pitch or the azimuth or both may haveconstant or varying angles.

Reference is now made to FIG. 1, which schematically illustrates asurveillance system 1000, according to an embodiment of the invention,and to FIG. 2, which schematically illustrates a top view of a map of aprecinct 200 (hereinafter referred to as “precinct map 200”) indicatingtherein the position and the maximal scanning range of a sensor 1100. Inaddition, the zone that is in direct line-of-sight with a sensingelement 1101 is indicated in precinct map 200.

According to some embodiments of the invention, sensing element 1101 isincluded in sensor 1100, which is part of a surveillance system 1000.Sensing clement 1101 may be, for example, an imager or any othersuitable sensing element. The sensing element 1101 is operativelyassociated with a processor 1102. Sensor 1100 further includes atransmitter 1106, a receiver 1107, an interface device 1109, adjustmentgears 1111 and a display 1112, all of which are operatively associatedwith processor 1102 and/or with storage device 1113. Adjustment gears1111 enable adjusting, for example, the pitch, roll, yaw, height and thelike, of sensor 1100 and/or sensing element 1101.

Sensing element 1101, processor 1102, transmitter 1106, receiver 1107,interface device 1109 and drive 1110 are operatively associated withpower source 1108 and adapted to receive electrical power. Furthermore,processor 1102 is adapted to read and execute a program 1103.

Non-limiting examples of sensor 1100 are a camera, a video camera, astereo-camera, a laser detector, a thermal camera, a laser scanningdevice, a passive sensor, an active sensor or any combination thereof.

According to some embodiments of the invention, processor 1102 mayexecute program 1103 resulting in an application 1104 that, inter alia,controls movement of adjustment gears 1111 via drive 1110 according tothe scanning parameter set by the user.

According to some embodiments of the invention, program 1103 ismodifiable via interface device 1109, or remotely from a workstation1200 via wire or wireless signals 131, which may be sent fromtransmitter 1203 to receiver 1107. Transmitter 1203 may be operativelyassociated with processor 1201 or storage device 1206, and receiver 1107may be operatively associated with a module 1050. Module 1050, which maybased on hardware and/or software, is adapted to determine scanningparameters (hereinafter referred to as “optimized scanning parameters”)that maximize the coverage of a region of interest 220 and/or minimizethe time required to scan region of interest 220, as will be outlinedbelow.

According to some embodiments of the invention, module 1050 may includea processor 1201 operatively associated with a power source 1211. Bothprocessor 1201 and power source 1211 are operatively associated with adisplay 1202, a transmitter 1203, a receiver 1204, an interface device1205 and a storage device 1206 that stores therein, inter alia, datarepresenting a program 1207, which may also be included in module 1050.Storage device 1205 also stores data that represents geographicalinformation (GI) data 1208 of a precinct. GI data 1208 represents, forexample, information regarding landscape topography, latitude,meridians, streets, location of buildings, purpose of the buildings(e.g., hospital, police station, embassy, school, apartment building andthe like), location of constructions sites, roadblocks, army posts,vegetation and the like. Processor 1201 may process GI data 1208 in amanner that results in a visualization of said GI data 1208 on, e.g.,display 1202. Therefore, display 1202 may display maps of landscaperegions, city maps, maps of building compounds and the like.Furthermore, storage device 1205 may store sensor data 1209 representingthe parameters of sensor 1100, such as sensor type, model number, size,weight, zoom range, pitch range, roll range, yaw range, availability,cost and the like.

According to some embodiments of the invention, processor 1201 mayexecute program 1207 resulting in an application 1210 that uses GI data1208, sensor data 1209 or both to determine optimized scanningparameters, as will be outlined below with reference to FIGS. 2-10.

According to some other embodiments of the invention, sensor 1100 maystore therein GI data 1208, and processor 1102 may execute program 1103resulting in an application 1104 that, inter alia, determines optimizedscanning attributes based on GI data 1208. In some other embodiments ofthe invention, GI data 1208 may be generated, for example, substantiallyin real-time as sensor 1100 scans the precinct, i.e., the scannedinformation representing the precinct may be stored in storage device1206 as GI data 1208.

According to some embodiments of the invention, the user may read theoptimized scanning parameters from display 1202 and modify program 1103accordingly.

According to some embodiments of the invention, sensor 1100 may beprogrammed with the optimized scanning parameters by transmitting datarepresenting said optimized scanning parameters via signals 1301 fromtransmitter 1203 to receiver 1107. Other methods for updating program1103 of sensor 1100 may also be possible.

According to some embodiments of the invention, the optimized scanningparameters may be updated during the operation of sensor 1100. Forexample, during the operation of sensor 1100, the user may redefineregion of interest 220 (hereinafter referred to as “new region ofinterest 220”) via interface device 1205 or interface device 1109. As aresult, the optimized scanning parameters may no longer be suitable forensuring optimized operation of sensor 1100. Therefore, the optimizedscanning parameters may be updated accordingly by, e.g., application1210 and/or application 1104.

According to some embodiments of the invention, sensor 1100 may scan atleast some area of the precinct and send data (hereinafter referred toas “scanning data”) representing the scanned area to workstation 1200.The scanning data may then be compared against GI data 1208 by, e.g.,application 1210. If there is a mismatch between the scanning data andGI data 1208, a suitable warning message may be displayed on display1112 and GI data 1208 may be updated accordingly, in order to ensuremaximal coverage of region of interest 220 and/or minimal scanning timeof region of interest 220.

Further reference made to FIG. 9, which schematically illustrates amethod for graphically depicting zoom ranges within region of interest220, according to an embodiment of the invention. The various zoomranges may be marked on display 1202, e.g., with different colors.

As indicated by box 9050, the method may include, for example, the stepof schematically visualizing a precinct such as, e.g., precinct 200.This may be accomplished by retrieving the part of GI data 1208 thatrepresents precinct 200 and depicting said data as precinct map 200 ondisplay 1202.

As indicated by box 9100, the method may include, for example,simulating a position of a sensor, such as sensor 1100, within precinctmap 200. This may be accomplished by the user selecting, via interfacedevice 1205, sensor data 1209 that matches the operating parameters ofsensor 1100 and providing processor 1201 with information regarding theposition of sensor 1100 in precinct map 200. As a result, display 1202displays the position and the maximal scanning range S_(max) of sensor1100, as schematically depicted in FIG. 2.

As indicated by box 9200, the method may further include, for example,generating a visibility map 210 by, e.g., application 1210. Visibilitymap 210 depicts which zones of precinct 200 (within S_(max)) have adirect line-of-sight (LOS) with sensing element 1101 and which do not.For example, as schematically illustrated in FIG. 2, a Zone Z1 mayindicate a region having a direct LOS with sensing element 1101 and asecond Zone Z2 may indicate a region that has no direct LOS with sensingelement 1101. The shape of each zone depends, inter alia, on the heightof sensing element 1101 above the ground of precinct 200.

According to some embodiments of the invention, application 1210 and/orapplication 1107 determine the size of each zone. Additionally oralternatively, application 1210 and/or application 1107 determine thepercentage of the region of interest 220 covered by Z1. Therefore,application 1210 and/or application 1107 determine the position forsensor 1100 that is providing the best coverage of region of interest220.

Additional reference is now made to FIG. 3, which schematicallyillustrates precinct map 200, wherein a region of interest 220 isdelineated and an alternative position of sensor 1100 is indicated,according to an embodiment of the invention.

As indicated by box 9300, the method may include, for example, the stepof defining the region of interest 220, which is defined as the regionthat the user wants to surveil. According to some embodiments of theinvention, application 1210 may simulate different positions for virtualsensor 1100 and determine the position that provides the maximalcoverage of region of interest 220 by zone Z1. For example, at positionP1, application 1210 may determine that zone Z1 covers 85% of region ofinterest 220, whereby at position P2, application 1210 determines thatzone Z1 covers only 70% of region of interest 220. Therefore,application 1210 may determine to place virtual sensor 1100 at positionP1.

According to some embodiments of the invention, the positioning of asensor, such as sensor 1100, may be performed as described in “A methodfor Planning a Security Array of Sensor Units”, U.S. utility patentapplication Ser. No. 11/278,860, which is incorporated by reference forall purposes as if fully set forth herein and which claims priority fromprovisional patent application 60/772,557. U.S. provisional patentapplication 60/772,557 is also incorporated by reference for allpurposes as if fully set forth herein.

It is to be understood that in some embodiments of the invention, sensor1100 may be one sensor in an array of sensors. Therefore, the sensorparameters of one or more additional sensors may have to be taken intoaccount in order to position sensor 1100 optimally in precinct 200.

Reference is now also made to FIG. 4, which schematically illustratesvisibility map 210, wherein the section outside of said region ofinterest 220 is cropped, according to an embodiment of the invention.

As indicated by box 9400, the method may include, for example, the stepof cropping the visibility map 210 in a manner such that only region ofinterest 220 is displayed on display 1202.

Further reference is now made to FIG. 5, which schematically illustratesregion of interest 220, wherein the zoom ranges of sensor 110 areindicated; and to FIG. 6, which schematically illustrates the zoomranges and their corresponding magnification factors, according to anembodiment of the invention.

As indicated by box 9500, the method may include, for example, the stepof indicating the zoom ranges of, e.g., sensing element 1101, on display1202. In some embodiments of the invention, sensor 1100 may beconstrained to traverse a strip, i.e., scan an area according to astrip, within a certain zoom range. A relationship may exist between thezoom ranges and the vertical fields of view (VFOV) of sensing element1101, i.e., the VFOV may depend on, inter alia, the zoom range ofsensing element 1101. For example, at a VFOV of 11.74 rad, the zoomrange may be 0-500 m; at a VFOV of 5.87 rad, the zoom range may be 500m-100 m; and at a VFOV of 3.91 rad, the zoom range may be 1000-1500 m.

As indicated by box 9600, the method may include, for example, the stepof optimizing the scanning parameters of sensor 1100, as will beoutlined hereinafter with reference to FIG. 7, 8 a, 8 b and 10.

Reference is now made to FIG. 7, which schematically illustrates a mapof a section of region of interest 220 whose topography is schematicallydepicted by a grid, according to an embodiment of the invention.Furthermore, reference is made to FIGS. 8 a and 8 b, each schematicallyillustrating an isometric view of a section of region of interest 220,virtually segmented by the grid. Additional reference is made to FIG.10, which schematically illustrates a method for optimizing the scanningparameters of sensor 1100, according to an embodiment of the invention

As indicated by box 9601, in order to optimize the scanning parameters,the method may include, for example, the step of simulating scanning atleast some portion of region of interest 220 according to a plurality ofstrips (hereinafter referred to as “strip array”) in order to determinehow many strips are needed to cover substantially all of region ofinterest 220. For example, as depicted in FIG. 7, application 1210 maydetermine that four strips are sufficient to cover substantially all ofregion of interest 220.

According to some embodiments of the invention, the range of the azimuthangles, i.e., the length of each strip, may be determined by firstsimulating scanning region of interest 220 with strips each havingsubstantially equal lengths when projected on a substantially flatsurface. In order to obtain strips each having substantially equallengths, a decrease in the pitch angle may require increasing theazimuth angle accordingly.

According to some embodiments of the invention, the range of the azimuthangles may be determined by, e.g., application 1210, in a manner suchthat each strip is scanned by sensor 1100 in substantially the sameamount of time.

According to some embodiments of the invention, additional propertiessuch as the length of a strip and/or the time required to traverse astrip, i.e., the time required to scan the area covered by said strip,may be taken into account when determining optimized scanningparameters.

As indicated by box 9602, the method may include, for example, the stepof redefining region of interest 220. The user may redefine region ofinterest 220 in order to reduce the number strips and therefore the timerequired to cover substantially the entire redefined region of interest220.

As indicated by box 9603, the method may include, for example, the stepof investigating the properties of the area covered by each strip withinregion of interest 220 such as, for example, the distance and/or thesize of at least some of said area. This may be accomplished, forexample, by determining the number of pixels that are covered by eachstrip within region of interest 220 using GI data 1208. For example,within region of interest 220, strip 1 may cover 850 pixels, strip 2 maycover 9240 pixels, Strip 3 may cover 2810 pixels and Strip 4 may cover10510 pixels. In some embodiments of the invention, a pixel maycorrespond to one square meter. In consequence, application 1210 maydetermine therefrom that strip 1, strip 2, strip 3 and strip 4 cover anarea of 850 m², 9240 m², 2810 m² and 10510 m², respectively.

As indicated by box 9604, the method may include, for example, the stepof sorting the strips according to the distance and/or area covered bythe strips within region of interest 220. The strips may be sorted,e.g., in a descending order, as follows: strip 4 (10510 m²), strip 2(9240 m²), strip 3 (2810 m²) and strip 1 (850 m²).

According to some embodiments of the invention, region of interest 220may be sectioned according to weights, whereby each weight indicates ameasure of importance regarding imperativeness to be scanned. Forexample, the weights may be, for example, 1, 2 and 3, representing ‘notimportant’ section, ‘important’ section and ‘very important’ section,respectively. The weights of each section may be taken into account whendetermining the optimized scanning parameters. For example, the weightsmay be prioritized by, e.g., the user, over the area covered by eachstrip. Therefore, the strips may first be sorted according to theirweights and only then according to, e.g., the area covered by eachstrip. For example, if the weight of aforementioned strips are asfollows: strip 1 (weight 2), strip 2 (3), strip 3 (1) and strip 4 (3),then the strips will be sorted as follows: strip 4 (weight: 3, area:10510), strip 2 (weight: 3, area: 9240), strip 1 (weight 2, area: 850)and strip 3 (weight: 1, area: 2810).

According to some embodiments of the invention, two strips may partiallyoverlap, for for example, in order to scan more frequently a particularsection that has a weight that is higher than the weights of any othersection, i.e., said particular section is more important than othersections of region of interest 220.

If a plurality of strips cover substantially the same number of pixels,then the strip to be included in the strip array may be determined by,e.g., the user or according to the weights of the section.

As indicated by box 9605, the method may include, for example, the stepof selecting a number of strips (hereinafter referred to as “stripselection”) from the strip array, according to which sensor 1100traverses to scan at least some of region of interest 220. The stripselection refers to the group of strips that cover the largest area ofregion of interest 220. The number of strips in the strip selection maydepend on, for example, the number of zoom ranges according to whichsensing element 1101 is operable. For example, application 1210 or theuser may determine that region of interest 220 is sufficiently coveredby four strips. Each strip may be in a different zoom range. However,sensing element 1101 may be operable only at, e.g., three zoom ranges.Therefore, application 1210 may determine that the strip selectioncomprises three strips. In consequence, region of interest 220 isscanned according to strip 4, strip 2 and strip 1.

As indicated by box 9606, the method may include, for example,determining the sequence between the strips of the strip selection. Thesequence may be determined by, e.g., application 1210.

The scanning sequence determines the time (hereinafter referred to as“scanning time”) it takes sensor 1100 to complete traversing all stripsof the strip selection. Consequently, the scanning time of at least someof region of interest 220 is, inter alia, a function of the scanningsequence.

According to some embodiments of the invention, the scanning sequencemay be determined in a manner such that the scanning time issubstantially minimized. This is accomplished, inter alia, bydetermining the scanning sequence in a manner such that the time ittakes sensor 1100 and/or sensing element 1101 to adjust between twostrips is minimized,

The larger the distance between a first and a second strip, the largerthe difference between the first and second pitch angle of sensor 1100,respectively and the more time it takes for sensor 1100 to adjust fromthe first pitch to the second pitch. Consequently, application 1210 maydetermine a scanning sequence in a manner that minimizes the differenceof: a current pitch angle and a subsequent pitch angle.

Similarly, the larger the distance between a first and a second azimuthangle, the more time it takes for sensor 1100 to adjust from the firstto the second azimuth angle. Consequently, application 1210 maydetermine a scanning sequence in a manner that also minimizes thedifference between a first azimuth angle and a second azimuth angle.

It is to be understood that a scanning sequence may comprise, in someembodiments of the invention, strips that have various azimuth, pitchangles or both.

As indicated by box 9607, the method may include, for example, the stepof programming sensor 1100, i.e., updating program 1103, according tothe optimized scanning sequence.

As indicated by box 9608, the method may include, for example, the stepof positioning sensor 1100 in precinct 200 as determined by, e.g.,application 1210.

As indicated by box 9609, the method may include, for example, the stepof traversing sensor 1100 and/or sensing element 1101 as determined by,e.g., application 1210. Accordingly, at least some portion of region ofinterest 220 is scanned optimally by sensor 1100 and/or sensing element1101.

Additionally or alternatively, parameters such as the composition of theground and the number and/or type of buildings may be taken into accountwhen determining the optimized scanning parameters.

According to some embodiments of the invention, sensor 1100 scans regionof interest 220 according to the optimized scanning parameters, untilsensor 1100 homes in on a target such as a vehicle (e.g., a tank), aperson (e.g., a soldier) or the like.

It is to be understood that some embodiments of the invention may beimplemented, for example, using a machine-readable medium or articlewhich may store an instruction or a set of instructions that, ifexecuted by a machine, cause the machine to perform a method oroperations or both in accordance with embodiments of the invention. Sucha machine may include, for example, any suitable processing platform,computing platform, computing device, processing device, computingsystem, processing system, computer, processor, or the like, and may beimplemented using any suitable combination of hardware or software orboth. The machine-readable medium or article may include but is notlimited to, any suitable type of memory unit, memory device, memoryarticle, memory medium, storage article, storage device, storage mediumor storage unit such as, for example, memory, removable or non-removablemedia, erasable or non-erasable media, writeable or re-writeable media,digital or analog media, optical disk, hard disk, floppy disk, CompactDisk Recordable (CD-R), Compact Disk Read Only Memory (CD-ROM), CompactDisk Rewriteable (CD-RW), magnetic media, various types of DigitalVersatile Disks (DVDs), a tape, a cassette, or the like. Theinstructions may include any suitable type of code, for example, anexecutable code, a compiled code, a dynamic code, a static code,interpreted code, a source code or the like, and may be implementedusing any suitable high-level, low-level, object-oriented, visual,compiled or interpreted programming language. Such a compiled orinterpreted programming language may be, for example, C, C++, Java,Pascal, MATLAB, BASIC, Cobol, Fortran, assembly language, machine codeand the like.

While the invention has been described with respect to a limited numberof embodiments, these should not be construed as limitations on thescope of the invention, but rather as exemplifications of some of theembodiments. Those skilled in the art will envision other possiblevariations, modifications, and programs that are also within the scopeof the invention. Accordingly, the scope of the invention should not belimited by what has thus far been described, but by the appended claimsand their legal equivalents. Therefore, it is to be understood thatalternatives, modifications, and variations of the present invention areto be construed as being within the scope and spirit of the appendedclaims.

1. A method for programming scanning parameters of a programmable sensorcomprising a sensing element, said sensor positioned in a precinct toscan a region of interest of said precinct, said method comprising: a)simulating scanning at least some of said region of interest accordingto a plurality of strips; and b) optimizing said scanning parameters bycomparing between the areas covered by each strip according to at leastone property of said area.
 2. The method of claim 1, wherein saidproperty of the area refers to at least of the following: distancecovered by each strip, size of the area covered by each strip, weight ofa section covered by a strip, said weight indicating importance of thesection.
 3. The method of claim 1, further comprising sorting the stripsaccording to at least one of said properties.
 4. The method of claim 1,further comprising selecting a group of strips, said group comprising apredetermined number of strips that cover the largest area within saidregion of interest.
 5. The method of claim 1, further comprisingdetermining said property by counting the number of pixels covered byeach strip.
 6. The method of claim 1, wherein said strip comprises asubstantially single pitch angle and of a plurality of azimuth angles.7. The method of claim 1, wherein said strip comprises a substantiallysingle azimuth angle and a plurality of pitch angles.
 8. The method ofclaim 1, wherein said strip comprises a plurality of pitch angles andazimuth angles.
 9. The method of claim 1 further comprising determininga maximal scanning range of said sensor.
 10. The method of claim 1further comprising simulating positioning said sensor within saidprecinct to generate a visibility map that enables maximizing, withinsaid region of interest, a zone being in direct line-of-sight with saidsensing element.
 11. The method of claim 4, further comprisingdetermining a sequence of traversing said group of strips, said sequencedetermined in a manner such that the scanning time of at least some ofsaid region of interest is minimized.
 12. The method of claim 4, furthercomprising minimizing the scanning time by determining said sequencesuch that the angular difference between two strips is minimal comparedto the angular difference between other strips.
 13. A system forprogramming scanning parameters of a programmable sensor, said systemcomprising: a) a graphic processing module enabling simulation ofscanning at least some of a region of interest according to a pluralityof strips; and b) an analyzing module for optimizing said scanningparameters by comparing between the areas covered by each stripaccording to at least one property of the area.
 14. The system of claim13, wherein said property of the area refers to at least one of thefollowing: distance covered by each strip, size of the area covered byeach strip, weight of a section covered by a strip, said weightindicating importance of the section.
 15. The system of claim 13,wherein said analyzing module sorts the strips according to at least oneof said property.
 16. The system of claim 13, wherein said analyzingmodule selects a group of strips, said group comprising a predeterminednumber of strips that covers the largest area of said region ofinterest.
 17. The system of claim 13 wherein said analyzing moduledetermines said property by counting the number of pixels covered byeach strip.
 18. The system of claim 13, wherein said strip comprises asubstantially single pitch and of a plurality of azimuth angles.
 19. Thesystem of claim 13, wherein said strip comprises a substantially singleazimuth angle and a plurality of pitch angles.
 20. The system of claim13, wherein said strip comprises of a plurality of pitch angles andazimuth angles.
 21. The system of claim 13 wherein said analyzing moduledetermines a maximal scanning range of said sensor.
 22. The system ofclaim 13 wherein said graphic processing module enables simulating theposition of said sensor within said precinct to generate a visibilitymap, said visibility map enabling the maximizing of a zone being indirect line-of-sight with said sensing element, within said region ofinterest.
 23. The system of claim 13 wherein said graphic processingmodule indicates in said visibility map the zoom ranges of said sensor.24. The system of claim 13 wherein said analyzing module determines asequence of traversing said group of strips such that a scanning time ofat least some of said region of interest is minimized.
 25. The system ofclaim 16 wherein said analyzing module determines a sequence oftraversing said group of strips, said sequence being determined by saidmodule in a manner such that the angular difference between two stripsis minimal compared to the angular difference between strips.
 26. Thesystem of claim 13, further comprising a workstation and a sensorwherein said scanning parameters are transmitted from said workstationto said sensor.
 27. The system of claim 13, wherein said scanningparameters are updated substantially in real-time during the operationof said sensor.
 28. The system of claim 13, wherein said region ofinterest is altered during the operation of the sensor.